ompl::geometric::BiRLRT Class Reference

Bi-directional Range-Limited Random Tree (Ryan Luna's Random Tree) More...

#include <ompl/geometric/planners/rlrt/BiRLRT.h>

Inheritance diagram for ompl::geometric::BiRLRT:

## Classes

class  Motion
A motion (tree node) with parent pointer. More...

## Public Member Functions

BiRLRT (const base::SpaceInformationPtr &si)

virtual void getPlannerData (base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between).

virtual base::PlannerStatus solve (const base::PlannerTerminationCondition &ptc)
Function that can solve the motion planning problem. This function can be called multiple times on the same problem, without calling clear() in between. This allows the planner to continue work for more time on an unsolved problem, for example. If this option is used, it is assumed the problem definition is not changed (unpredictable results otherwise). The only change in the problem definition that is accounted for is the addition of starting or goal states (but not changing previously added start/goal states). If clearQuery() is called, the planner may retain prior datastructures generated from a previous query on a new problem definition. The function terminates if the call to ptc returns true.

virtual void clear ()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.

void setRange (double distance)
Set the maximum distance between states in the tree.

double getRange () const
Get the maximum distance between states in the tree.

void setMaxDistanceNear (double dNear)
Set the maximum distance (per dimension) when sampling near an existing state.

double getMaxDistanceNear () const
Get the maximum distance (per dimension) when sampling near an existing state.

bool getKeepLast () const
If true, the planner will not have the range limitation. Instead, if a collision is detected, the last valid state is retained.

void setKeepLast (bool keepLast)
Set whether the planner will use the range or keep last heuristic. If keepLast = false, motions are limited in distance to range_, otherwise the last valid state is retained when a collision is detected.

virtual void setup ()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceInformation::setup() if needed. This must be called before solving.

Public Member Functions inherited from ompl::base::Planner
Planner (const Planner &)=delete

Planneroperator= (const Planner &)=delete

Planner (SpaceInformationPtr si, std::string name)
Constructor.

virtual ~Planner ()=default
Destructor.

template<class T >
T * as ()
Cast this instance to a desired type. More...

template<class T >
const T * as () const
Cast this instance to a desired type. More...

const SpaceInformationPtrgetSpaceInformation () const
Get the space information this planner is using.

const ProblemDefinitionPtrgetProblemDefinition () const
Get the problem definition the planner is trying to solve.

ProblemDefinitionPtrgetProblemDefinition ()
Get the problem definition the planner is trying to solve.

const PlannerInputStatesgetPlannerInputStates () const
Get the planner input states.

virtual void setProblemDefinition (const ProblemDefinitionPtr &pdef)
Set the problem definition for the planner. The problem needs to be set before calling solve(). Note: If this problem definition replaces a previous one, it may also be necessary to call clear() or clearQuery().

PlannerStatus solve (const PlannerTerminationConditionFn &ptc, double checkInterval)
Same as above except the termination condition is only evaluated at a specified interval.

PlannerStatus solve (double solveTime)
Same as above except the termination condition is solely a time limit: the number of seconds the algorithm is allowed to spend planning.

virtual void clearQuery ()
Clears internal datastructures of any query-specific information from the previous query. Planner settings are not affected. The planner, if able, should retain all datastructures generated from previous queries that can be used to help solve the next query. Note that clear() should also clear all query-specific information along with all other datastructures in the planner. By default clearQuery() calls clear().

const std::string & getName () const
Get the name of the planner.

void setName (const std::string &name)
Set the name of the planner.

const PlannerSpecsgetSpecs () const
Return the specifications (capabilities of this planner)

virtual void checkValidity ()
Check to see if the planner is in a working state (setup has been called, a goal was set, the input states seem to be in order). In case of error, this function throws an exception.

bool isSetup () const
Check if setup() was called for this planner.

ParamSetparams ()
Get the parameters for this planner.

const ParamSetparams () const
Get the parameters for this planner.

const PlannerProgressPropertiesgetPlannerProgressProperties () const
Retrieve a planner's planner progress property map.

virtual void printProperties (std::ostream &out) const
Print properties of the motion planner.

virtual void printSettings (std::ostream &out) const
Print information about the motion planner's settings.

## Protected Member Functions

void freeMemory ()
Free the memory allocated by this planner.

bool growTreeRangeLimited (std::vector< Motion * > &tree, Motion *xmotion)
Try to grow the tree randomly. Return true if a new state was added. More...

bool growTreeKeepLast (std::vector< Motion * > &tree, Motion *xmotion, std::pair< base::State *, double > &lastValid)
Try to grow the tree randomly. Return true if a new state was added. More...

int connectToTree (const Motion *motion, std::vector< Motion * > &tree)

Protected Member Functions inherited from ompl::base::Planner
template<typename T , typename PlannerType , typename SetterType , typename GetterType >
void declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const GetterType &getter, const std::string &rangeSuggestion="")
This function declares a parameter for this planner instance, and specifies the setter and getter functions.

template<typename T , typename PlannerType , typename SetterType >
void declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const std::string &rangeSuggestion="")
This function declares a parameter for this planner instance, and specifies the setter function.

void addPlannerProgressProperty (const std::string &progressPropertyName, const PlannerProgressProperty &prop)
Add a planner progress property called progressPropertyName with a property querying function prop to this planner's progress property map.

## Protected Attributes

std::vector< Motion * > tStart_
Start tree.

std::vector< Motion * > tGoal_
Goal tree.

base::StateSamplerPtr sampler_
State sampler.

double range_ {0.0}
The maximum total length of a motion to be added to a tree.

double maxDistNear_ {0.0}
The maximum distance (per dimension) when sampling near an existing configuration.

RNG rng_
The random number generator.

std::pair< base::State *, base::State * > connectionPoint_ {nullptr, nullptr}
The pair of states in each tree connected during planning. Used for PlannerData computation.

bool keepLast_ {false}

Protected Attributes inherited from ompl::base::Planner
SpaceInformationPtr si_
The space information for which planning is done.

ProblemDefinitionPtr pdef_
The user set problem definition.

PlannerInputStates pis_
Utility class to extract valid input states

std::string name_
The name of this planner.

PlannerSpecs specs_
The specifications of the planner (its capabilities)

ParamSet params_
A map from parameter names to parameter instances for this planner. This field is populated by the declareParam() function.

PlannerProgressProperties plannerProgressProperties_
A mapping between this planner's progress property names and the functions used for querying those progress properties.

bool setup_
Flag indicating whether setup() has been called.

Public Types inherited from ompl::base::Planner
using PlannerProgressProperty = std::function< std::string()>
Definition of a function which returns a property about the planner's progress that can be queried by a benchmarking routine.

using PlannerProgressProperties = std::map< std::string, PlannerProgressProperty >
A dictionary which maps the name of a progress property to the function to be used for querying that property.

## Detailed Description

Bi-directional Range-Limited Random Tree (Ryan Luna's Random Tree)

BiRLRT is a basic bidirectional tree-based planner without any sophistic heuristics to guide the exploration. It should be used as a baseline for comparison against other bidirectional tree-based planners. In high-dimensional search spaces it can sometimes perform surprisingly well.

Associated publication:
R. Luna, M. Moll, J. Badger, and L. E. Kavraki, A Scalable Motion Planner for High-Dimensional Kinematic Systems, Intl. J. of Robotics Research, vol. 39, issue 4, pp. 361-388, Mar. 2020. DOI: 10.1177/0278364919890408
[PDF]

Definition at line 63 of file BiRLRT.h.

## ◆ connectToTree()

 int ompl::geometric::BiRLRT::connectToTree ( const Motion * motion, std::vector< Motion * > & tree )
protected

Attempt to connect the given motion (presumed to be in a tree) to a state in another tree (presumed to be different from the tree motion is in). If connection is successful, the index of the motion in the other tree that the motion connects to is returned. -1 for failed connection.

Definition at line 154 of file BiRLRT.cpp.

## ◆ growTreeKeepLast()

 bool ompl::geometric::BiRLRT::growTreeKeepLast ( std::vector< Motion * > & tree, Motion * xmotion, std::pair< base::State *, double > & lastValid )
protected

Try to grow the tree randomly. Return true if a new state was added.

Try to grow the tree randomly. Return true if a new state was added xmotion is scratch space for sampling, etc.

Definition at line 126 of file BiRLRT.cpp.

## ◆ growTreeRangeLimited()

 bool ompl::geometric::BiRLRT::growTreeRangeLimited ( std::vector< Motion * > & tree, Motion * xmotion )
protected

Try to grow the tree randomly. Return true if a new state was added.

Try to grow the tree randomly. Return true if a new state was added xmotion is scratch space for sampling, etc.

Definition at line 98 of file BiRLRT.cpp.

The documentation for this class was generated from the following files: